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dc.contributor.author Gracia, Luis
dc.contributor.author Sala, Antonio
dc.contributor.author Garelli, Fabricio
dc.date.available 2019-05-13T23:17:12Z
dc.date.issued 2012-06
dc.identifier.citation Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A path conditioning method with trap avoidance; Elsevier Science; Robotics And Autonomous Systems; 60; 6; 6-2012; 862-873
dc.identifier.issn 0921-8890
dc.identifier.uri http://hdl.handle.net/11336/76243
dc.description.abstract This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.
dc.format application/pdf
dc.language.iso eng
dc.publisher Elsevier Science
dc.rights info:eu-repo/semantics/restrictedAccess
dc.rights.uri https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject COLLISION AVOIDANCE
dc.subject PATH PLANNING
dc.subject SLIDING MODE
dc.subject.classification Ingeniería de Sistemas y Comunicaciones
dc.subject.classification Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification INGENIERÍAS Y TECNOLOGÍAS
dc.title A path conditioning method with trap avoidance
dc.type info:eu-repo/semantics/article
dc.type info:ar-repo/semantics/artículo
dc.type info:eu-repo/semantics/publishedVersion
dc.date.updated 2019-05-08T17:31:11Z
dc.journal.volume 60
dc.journal.number 6
dc.journal.pagination 862-873
dc.journal.pais Países Bajos
dc.journal.ciudad Amsterdam
dc.description.fil Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
dc.description.fil Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
dc.description.fil Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina
dc.journal.title Robotics And Autonomous Systems
dc.relation.alternativeid info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1016/j.robot.2012.01.009
dc.relation.alternativeid info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0921889012000218
dc.conicet.fuente individual


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info:eu-repo/semantics/restrictedAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)